Rule G05 and Autonomous

[Mark McLeod]

There are a lot of problems with the "move it after it's on" approach, and we can't be doing it.

The field will not wait for your robot to boot, then allow extra time for you to move your robot around.
That goes for positioning by encoders/cameras/gyro or anything that demands you wait for the robot to finish booting and connecting with the field before getting on with life.
The goal is to start the match the moment all robots are connected to the field.
Taking one minute more than absolutely necessary adds an hour to the length of a single event day.

We will be told when we can power-up/power-down our robots, we do not get to choose.
We are always told to start the robot after it's been placed on the field for safety reasons.
Occasionally, the FTA has the discretion to direct us to start the robot before coming onto the field, but that's for FTA reasons, not team reasons.

It's

1. get the robot on the field
2. turn it on
3. position it (if you have a gyro you have to position, then turn on, so it's especially important for teams with gyros to be able to position quicker than anyone else)
4. load frisbees
5. get off the field

All should be accomplished BEFORE the robot completes booting.

If there is a problem getting all the robots to connect with the field, then robots will be turned off and back on again, and you do NOT get extra time to re-position your robot to re-prepare your encoders.

Last year our drivers wanted to use the camera feedback to position our robot, but it really didn't work out.
The camera doesn't boot all that quickly, and when there was any issue that caused us to connect slowly or be restarted, then the camera image only appeared after we were all off the field and behind the lexan. The match typically started a moment after we saw the camera image on our driver station.

[philso]

Originally Posted by JesseK

There's a better way: find a known point to always set down on, then go a known distance in autonomous. If you can't even do this, then your team will be in trouble if you're ever asked to move your starting position in order to accommodate another team's autonomous (e.g. you both shoot 3 from the same spot -- who moves?).

The GDC has given us a number of navigational aids in the form of retro-reflective tape around the goals, a wall and a pyramid. You may want to find an FLL team in your area that knows how to use sensors and how to exploit the field elements and the robot's physical atributes (i.e. one that can do a large number of the tasks on the half of the field away from Base). They may be able to give you a fresh perspective on how to develop an autonomous mode strategy.

[piguy123]

Can we set any parameters at the start of the autonomous period? Or are we just allowed to change the mode from teleop to autonomous? We were thinking about setting up a few pre-programmed instructions based on our position around the pyramid. Actually, could someone clarify how exactly we're placed? I was under the impression that we had to be perpendicular to one side of the pyramid. Can we really place however we want as long as we're touching the pyramid?

Thanks

[EricH]

Originally Posted by piguy123

Can we set any parameters at the start of the autonomous period? Or are we just allowed to change the mode from teleop to autonomous? We were thinking about setting up a few pre-programmed instructions based on our position around the pyramid. Actually, could someone clarify how exactly we're placed? I was under the impression that we had to be perpendicular to one side of the pyramid. Can we really place however we want as long as we're touching the pyramid?

Thanks

Clarification on exact placement: G05 says touching the pyramid. That is the only positional requirement.

You don't change the mode; FMS (the field system) takes care of that. There are ways to select between autonomous modes; I would suspect parameters can be changed as well.

[Cal578]

Originally Posted by Kusha

This question seems like it would fit this thread, would a tape measure be allowed on the field?

Yes, but...

Originally Posted by dodar

No measuring devices are allowed on the field by team members.

Not strictly true, this year.

Originally Posted by Game Manual

3.2.2.3 G07
TEAMS may not cause significant or repeated delays to the start of a MATCH.

TEAMS are expected to stage their ROBOTS for a MATCH safely and swiftly. TEAM efforts that, either intentionally or unintentionally, delay the start of a MATCH will not be tolerated. Examples of such delays include, but are not limited to:
A. Use of alignment devices such as templates, tape measures, laser pointers, etc. to precisely place and/or align the ROBOT.
B. Late arrival to the FIELD.
C. Being indecisive about where/how to position a ROBOT.
D. Installing BUMPERS, or any ROBOT maintenance or assembly, once on the FIELD.

[Blue text represents the blue box in the rules; emphasis mine]

So, you can use a tape measure if you're quick about it. "Significant delay" is at the discretion of the Head Referee, so you'd better be careful. You might be able to find something faster (and more discrete) than a tape measure. For example, get a piece of string and tie knots in it at your desired distance from some reference point. That way, you'll be able to position your robot quickly and consistently, without getting penalized for delay.

[ekapalka]

Maybe you could record the data during the practice rounds and make sure that you start in that particular position at the start of the competition.

[Chris is me]

Confined to starting configuration doesn't mean you can't move, it means you can't expand out of the frame perimeter before the match starts (and you can't go taller than 60 inches before the match starts).